private static void SupportMapTransformed(ISupportMappable support, ref TSMatrix orientation, ref TSVector position, ref TSVector direction, out TSVector result)
{
result.x = direction.x * orientation.M11 + direction.y * orientation.M12 + direction.z * orientation.M13;
result.y = direction.x * orientation.M21 + direction.y * orientation.M22 + direction.z * orientation.M23;
result.z = direction.x * orientation.M31 + direction.y * orientation.M32 + direction.z * orientation.M33;
support.SupportMapping(ref result, out result);
FP y = result.x * orientation.M11 + result.y * orientation.M21 + result.z * orientation.M31;
FP y2 = result.x * orientation.M12 + result.y * orientation.M22 + result.z * orientation.M32;
FP y3 = result.x * orientation.M13 + result.y * orientation.M23 + result.z * orientation.M33;
result.x = position.x + y;
result.y = position.y + y2;
result.z = position.z + y3;
}
public static void SupportMapTransformed(ISupportMappable support,
ref JMatrix orientation, ref JVector position, ref JVector direction, out JVector result)
{
// THIS IS *THE* HIGH FREQUENCY CODE OF THE COLLLISION PART OF THE ENGINE
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12));
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22));
support.SupportMapping(ref result, out result);
float x = ((result.X * orientation.M11) + (result.Y * orientation.M21));
float y = ((result.X * orientation.M12) + (result.Y * orientation.M22));
result.X = position.X + x;
result.Y = position.Y + y;
}
private static void SupportMapTransformed(ISupportMappable support,
ref FPMatrix orientation, ref FPVector position, ref FPVector direction, out FPVector result)
{
// THIS IS *THE* HIGH FREQUENCY CODE OF THE COLLLISION PART OF THE ENGINE
result.x = ((direction.x * orientation.M11) + (direction.y * orientation.M12)) + (direction.z * orientation.M13);
result.y = ((direction.x * orientation.M21) + (direction.y * orientation.M22)) + (direction.z * orientation.M23);
result.z = ((direction.x * orientation.M31) + (direction.y * orientation.M32)) + (direction.z * orientation.M33);
support.SupportMapping(ref result, out result);
FP x = ((result.x * orientation.M11) + (result.y * orientation.M21)) + (result.z * orientation.M31);
FP y = ((result.x * orientation.M12) + (result.y * orientation.M22)) + (result.z * orientation.M32);
FP z = ((result.x * orientation.M13) + (result.y * orientation.M23)) + (result.z * orientation.M33);
result.x = position.x + x;
result.y = position.y + y;
result.z = position.z + z;
}
private static void SupportMapTransformed(ISupportMappable support,
ref JMatrix orientation, ref JVector position, ref JVector direction, out JVector result)
{
// THIS IS *THE* HIGH FREQUENCY CODE OF THE COLLLISION PART OF THE ENGINE
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12)) + (direction.Z * orientation.M13);
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22)) + (direction.Z * orientation.M23);
result.Z = ((direction.X * orientation.M31) + (direction.Y * orientation.M32)) + (direction.Z * orientation.M33);
support.SupportMapping(ref result, out result);
double x = ((result.X * orientation.M11) + (result.Y * orientation.M21)) + (result.Z * orientation.M31);
double y = ((result.X * orientation.M12) + (result.Y * orientation.M22)) + (result.Z * orientation.M32);
double z = ((result.X * orientation.M13) + (result.Y * orientation.M23)) + (result.Z * orientation.M33);
result.X = position.X + x;
result.Y = position.Y + y;
result.Z = position.Z + z;
}
private static void SupportMapTransformed(ISupportMappable support,
ref JMatrix orientation, ref JVector position, ref JVector direction, out JVector result)
{
// THIS IS *THE* HIGH FREQUENCY CODE OF THE COLLLISION PART OF THE ENGINE
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12)) + (direction.Z * orientation.M13);
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22)) + (direction.Z * orientation.M23);
result.Z = ((direction.X * orientation.M31) + (direction.Y * orientation.M32)) + (direction.Z * orientation.M33);
support.SupportMapping(ref result, out result);
float x = ((result.X * orientation.M11) + (result.Y * orientation.M21)) + (result.Z * orientation.M31);
float y = ((result.X * orientation.M12) + (result.Y * orientation.M22)) + (result.Z * orientation.M32);
float z = ((result.X * orientation.M13) + (result.Y * orientation.M23)) + (result.Z * orientation.M33);
result.X = position.X + x;
result.Y = position.Y + y;
result.Z = position.Z + z;
}
private static void SupportMapTransformed(ISupportMappable support, ref TSMatrix orientation, ref TSVector position, ref TSVector direction, out TSVector result)
{
//JVector.Transform(ref direction, ref invOrientation, out result);
//support.SupportMapping(ref result, out result);
//JVector.Transform(ref result, ref orientation, out result);
//JVector.Add(ref result, ref position, out result);
result.x = ((direction.x * orientation.M11) + (direction.y * orientation.M12)) + (direction.z * orientation.M13);
result.y = ((direction.x * orientation.M21) + (direction.y * orientation.M22)) + (direction.z * orientation.M23);
result.z = ((direction.x * orientation.M31) + (direction.y * orientation.M32)) + (direction.z * orientation.M33);
support.SupportMapping(ref result, out result);
FP x = ((result.x * orientation.M11) + (result.y * orientation.M21)) + (result.z * orientation.M31);
FP y = ((result.x * orientation.M12) + (result.y * orientation.M22)) + (result.z * orientation.M32);
FP z = ((result.x * orientation.M13) + (result.y * orientation.M23)) + (result.z * orientation.M33);
result.x = position.x + x;
result.y = position.y + y;
result.z = position.z + z;
}
private static void SupportMapTransformed(ISupportMappable support, ref JMatrix orientation, ref JVector position, ref JVector direction, out JVector result)
{
//JVector.Transform(ref direction, ref invOrientation, out result);
//support.SupportMapping(ref result, out result);
//JVector.Transform(ref result, ref orientation, out result);
//JVector.Add(ref result, ref position, out result);
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12)) + (direction.Z * orientation.M13);
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22)) + (direction.Z * orientation.M23);
result.Z = ((direction.X * orientation.M31) + (direction.Y * orientation.M32)) + (direction.Z * orientation.M33);
support.SupportMapping(ref result, out result);
float x = ((result.X * orientation.M11) + (result.Y * orientation.M21)) + (result.Z * orientation.M31);
float y = ((result.X * orientation.M12) + (result.Y * orientation.M22)) + (result.Z * orientation.M32);
float z = ((result.X * orientation.M13) + (result.Y * orientation.M23)) + (result.Z * orientation.M33);
result.X = position.X + x;
result.Y = position.Y + y;
result.Z = position.Z + z;
}
private static void SupportMapTransformed(ISupportMappable support, ref MatrixD orientation, ref Vector3D position, ref Vector3D direction, out Vector3D result)
{
//Vector3D.Transform(ref direction, ref invOrientation, out result);
//support.SupportMapping(ref result, out result);
//Vector3D.Transform(ref result, ref orientation, out result);
//Vector3D.Add(ref result, ref position, out result);
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12)) + (direction.Z * orientation.M13);
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22)) + (direction.Z * orientation.M23);
result.Z = ((direction.X * orientation.M31) + (direction.Y * orientation.M32)) + (direction.Z * orientation.M33);
support.SupportMapping(ref result, out result);
double x = ((result.X * orientation.M11) + (result.Y * orientation.M21)) + (result.Z * orientation.M31);
double y = ((result.X * orientation.M12) + (result.Y * orientation.M22)) + (result.Z * orientation.M32);
double z = ((result.X * orientation.M13) + (result.Y * orientation.M23)) + (result.Z * orientation.M33);
result.X = position.X + x;
result.Y = position.Y + y;
result.Z = position.Z + z;
}
private static void SupportMapTransformed(ISupportMappable support, ref JMatrix orientation, ref JVector position, ref JVector direction, out JVector result)
{
//JVector.Transform(ref direction, ref invOrientation, out result);
//support.SupportMapping(ref result, out result);
//JVector.Transform(ref result, ref orientation, out result);
//JVector.Add(ref result, ref position, out result);
result.X = ((direction.X * orientation.M11) + (direction.Y * orientation.M12)) + (direction.Z * orientation.M13);
result.Y = ((direction.X * orientation.M21) + (direction.Y * orientation.M22)) + (direction.Z * orientation.M23);
result.Z = ((direction.X * orientation.M31) + (direction.Y * orientation.M32)) + (direction.Z * orientation.M33);
support.SupportMapping(ref result, out result);
float x = ((result.X * orientation.M11) + (result.Y * orientation.M21)) + (result.Z * orientation.M31);
float y = ((result.X * orientation.M12) + (result.Y * orientation.M22)) + (result.Z * orientation.M32);
float z = ((result.X * orientation.M13) + (result.Y * orientation.M23)) + (result.Z * orientation.M33);
result.X = position.X + x;
result.Y = position.Y + y;
result.Z = position.Z + z;
}
private static void SupportMapTransformed(ISupportMappable support, ref Matrix3x3 orientation, ref Vector3 position, ref Vector3 direction, out Vector3 result)
{
//JVector.Transform(ref direction, ref invOrientation, out result);
//support.SupportMapping(ref result, out result);
//JVector.Transform(ref result, ref orientation, out result);
//JVector.Add(ref result, ref position, out result);
result.x = ((direction.x * orientation.M11) + (direction.y * orientation.M12)) + (direction.z * orientation.M13);
result.y = ((direction.x * orientation.M21) + (direction.y * orientation.M22)) + (direction.z * orientation.M23);
result.z = ((direction.x * orientation.M31) + (direction.y * orientation.M32)) + (direction.z * orientation.M33);
support.SupportMapping(ref result, out result);
float x = ((result.x * orientation.M11) + (result.y * orientation.M21)) + (result.z * orientation.M31);
float y = ((result.x * orientation.M12) + (result.y * orientation.M22)) + (result.z * orientation.M32);
float z = ((result.x * orientation.M13) + (result.y * orientation.M23)) + (result.z * orientation.M33);
result.x = position.x + x;
result.y = position.y + y;
result.z = position.z + z;
}
